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</style></head><body><div class = "content"><div class = 'SectionBlock containment active'><h1 class = "S1"><span class = "S2">Observer_Continuous_PID</span></h1><div class = "S3"><span class = "S2">A Continuous Observer.</span></div><div class = "S3"><span class = "S2"></span></div><h2 class = "S4"><span class = "S2"># Model</span></h2><ul class = "S5"><li class = "S6"><span class = "S7">Looks</span></li></ul><h2 class = "S8"><img class="imageNode" width="242" height="195" style="vertical-align: baseline" src="
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AElFTkSuQmCC"></div><h2 class = "S4"><span class = "S2"># Parameter</span></h2><ul class = "S5"><li class = "S6"><span class = "S7">Ts</span><span class = "S0">: the called period of the observer.</span></li><li class = "S6"><span class = "S7">J</span><span class = "S0">: the rotational inertia of the Motor.</span></li><li class = "S6"><span class = "S7">Tf</span><span class = "S0">: the static friction of the Motor.</span></li><li class = "S6"><span class = "S7">B</span><span class = "S0">: the viscous damping of the Motor.</span></li><li class = "S6"><span class = "S7">a</span><span class = "S0">: the gain.</span></li></ul><h2 class = "S4"><span class = "S2"># Description</span></h2><ul class = "S5"><li class = "S6"><span class = "S7">Transfer function</span><span class = "S0">:</span></li></ul><div class = "S3"><span class = "S2"></span></div><div class = "S3"><span class = "S2">              </span></div><ul class = "S5"><li class = "S6"><span class = "S7">input</span><span class = "S0">:   </span></li></ul><div class = "S3"><span class = "S2">                [torque]: The input torque of the Motor.</span></div><div class = "S3"><span class = "S2">                [pos]: The real position of the Motor.Get from Encoder.Unit is rad.</span></div><ul class = "S5"><li class = "S6"><span class = "S7">output</span><span class = "S0">:</span></li></ul><div class = "S3"><span class = "S2">                [pos_obs]: The estimated position of the Motor.Unit is rad.</span></div><div class = "S3"><span class = "S2">                [speed_obs]: The estimated speed of the Motor.Unit is rad/s.</span></div></div><div class = "S0"></div><div class = 'SectionBlock containment'><h2 class = "S10"><span class = "S2"></span></h2></div></div>
<!-- 
##### SOURCE BEGIN #####
%% Observer_Continuous_PID
% A Continuous Observer.
% 
% 
%% # Model
% * *Looks*
%% 
% 
% 
% * *Inside  of  the model*
% 
% 
%% # Parameter
% * *Ts*: the called period of the observer.
% * *J*: the rotational inertia of the Motor.
% * *Tf*: the static friction of the Motor.
% * *B*: the viscous damping of the Motor.
% * *a*: the gain.
%% # Description
% * *Transfer function*:
% 
% 
% 
%               
% 
% * *input*:   
% 
%                 [torque]: The input torque of the Motor.
% 
%                 [pos]: The real position of the Motor.Get from Encoder.Unit 
% is rad.
% 
% * *output*:
% 
%                 [pos_obs]: The estimated position of the Motor.Unit is 
% rad.
% 
%                 [speed_obs]: The estimated speed of the Motor.Unit is rad/s.
%%
##### SOURCE END #####
--></body></html>